From 23a65b17a60f3832e354317c8a913cbb27c68031 Mon Sep 17 00:00:00 2001 From: LSMushui Date: Tue, 10 Mar 2026 14:43:29 +0800 Subject: [PATCH] =?UTF-8?q?=E5=90=8C=E6=AD=A5=E6=9B=B4=E6=94=B9=EF=BC=8C?= =?UTF-8?q?=E4=BF=AE=E5=A4=8D=E4=BA=86=E4=BA=91=E5=8F=B0pid=E8=B6=85?= =?UTF-8?q?=E9=99=90=E9=97=AE=E9=A2=98=EF=BC=8C=E4=BF=AE=E5=A4=8D=E4=BA=91?= =?UTF-8?q?=E5=8F=B0=E7=BC=96=E7=A0=81=E5=99=A8=E4=B8=8A=E4=B8=8B=E9=99=90?= =?UTF-8?q?=EF=BC=8C=E5=85=B3=E9=97=AD=E7=A3=81=E5=8A=9B=E8=AE=A1=E8=BE=93?= =?UTF-8?q?=E5=85=A5?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- 云台/云台/.vscode/c_cpp_properties.json | 127 ++++++++++++++++-- 云台/云台/.vscode/keil-assistant.log | 12 +- 云台/云台/CarBody/Gimbal.c | 39 +++--- 云台/云台/CarBody/Visual.c | 54 ++------ .../Control/WaveFiltering_Kalman_Filtering.c | 2 +- 云台/云台/Function/AttitudeAlgorithms.c | 47 ++++++- 云台/云台/Function/AttitudeAlgorithms.h | 1 + 云台/云台/Hardware/BMI088.c | 1 + 云台/云台/Objects/Project.axf | Bin 729072 -> 725204 bytes 云台/云台/Objects/Project.build_log.htm | 88 ++++++------ 云台/云台/Objects/Project.htm | 75 ++++++----- 云台/云台/Objects/Project_Target 1.dep | 28 ++-- 云台/云台/Objects/attitudealgorithms.crf | Bin 451848 -> 452167 bytes 云台/云台/Objects/bmi088.crf | Bin 453157 -> 453157 bytes 云台/云台/Objects/ctoc.crf | Bin 448703 -> 448703 bytes 云台/云台/Objects/gimbal.crf | Bin 462173 -> 462229 bytes 云台/云台/Objects/main.crf | Bin 468866 -> 468918 bytes 云台/云台/Objects/visual.crf | Bin 459428 -> 459688 bytes .../Objects/wavefiltering_kalman_filtering.crf | Bin 8673 -> 8673 bytes 云台/云台/Project.uvguix.LSMushui | 111 ++++++++++----- 云台/云台/User/Parameter.h | 6 +- 云台/云台/User/main.c | 6 +- 底盘/底盘/.vscode/c_cpp_properties.json | 25 ++-- 底盘/底盘/.vscode/keil-assistant.log | 2 + 底盘/底盘/Objects/Project.axf | Bin 601396 -> 601392 bytes 底盘/底盘/Objects/Project.build_log.htm | 68 +++++----- 底盘/底盘/Objects/Project.htm | 2 +- 底盘/底盘/Objects/Project_Target 1.dep | 2 +- 底盘/底盘/Objects/main.crf | Bin 462138 -> 462138 bytes 底盘/底盘/Project.uvguix.LSMushui | 59 ++++---- 底盘/底盘/Project.uvoptx | 2 +- 底盘/底盘/User/main.c | 2 +- 32 files changed, 461 insertions(+), 298 deletions(-) diff --git a/云台/云台/.vscode/c_cpp_properties.json b/云台/云台/.vscode/c_cpp_properties.json index aec2d82..2a46f61 100644 --- a/云台/云台/.vscode/c_cpp_properties.json +++ b/云台/云台/.vscode/c_cpp_properties.json @@ -1,22 +1,121 @@ { "configurations": [ + { + "name": "windows-cygwin-gcc-x64", + "includePath": [ + "${workspaceFolder}/**", + "f:\\桌面\\云台\\Start", + "f:\\桌面\\云台\\Library", + "f:\\桌面\\云台\\System", + "f:\\桌面\\云台\\Algorithm", + "f:\\桌面\\云台\\AHRS", + "f:\\桌面\\云台\\Hardware", + "f:\\桌面\\云台\\Motor", + "f:\\桌面\\云台\\Function", + "f:\\桌面\\云台\\Control", + "f:\\桌面\\云台\\CarBody", + "f:\\桌面\\云台\\User", + "C:\\Keil_v5\\ARM\\ARMCC\\include", + "f:\\桌面\\云台\\Carbody" + ], + "defines": [ + "USE_STDPERIPH_DRIVER", + "STM32F40_41xxx", + "ARM_MATH_CM4", + "__FPU_PRESENT=1U", + "__CC_ARM", + "__arm__", + "__align(x)=", + "__ALIGNOF__(x)=", + "__alignof__(x)=", + "__asm(x)=", + "__forceinline=", + "__restrict=", + "__global_reg(n)=", + "__inline=", + "__int64=long long", + "__INTADDR__(expr)=0", + "__irq=", + "__packed=", + "__pure=", + "__smc(n)=", + "__svc(n)=", + "__svc_indirect(n)=", + "__svc_indirect_r7(n)=", + "__value_in_regs=", + "__weak=", + "__writeonly=", + "__declspec(x)=", + "__attribute__(x)=", + "__nonnull__(x)=", + "__register=", + "__breakpoint(x)=", + "__cdp(x,y,z)=", + "__clrex()=", + "__clz(x)=0U", + "__current_pc()=0U", + "__current_sp()=0U", + "__disable_fiq()=", + "__disable_irq()=", + "__dmb(x)=", + "__dsb(x)=", + "__enable_fiq()=", + "__enable_irq()=", + "__fabs(x)=0.0", + "__fabsf(x)=0.0f", + "__force_loads()=", + "__force_stores()=", + "__isb(x)=", + "__ldrex(x)=0U", + "__ldrexd(x)=0U", + "__ldrt(x)=0U", + "__memory_changed()=", + "__nop()=", + "__pld(...)=", + "__pli(...)=", + "__qadd(x,y)=0", + "__qdbl(x)=0", + "__qsub(x,y)=0", + "__rbit(x)=0U", + "__rev(x)=0U", + "__return_address()=0U", + "__ror(x,y)=0U", + "__schedule_barrier()=", + "__semihost(x,y)=0", + "__sev()=", + "__sqrt(x)=0.0", + "__sqrtf(x)=0.0f", + "__ssat(x,y)=0", + "__strex(x,y)=0U", + "__strexd(x,y)=0", + "__strt(x,y)=", + "__swp(x,y)=0U", + "__usat(x,y)=0U", + "__wfe()=", + "__wfi()=", + "__yield()=", + "__vfp_status(x,y)=0" + ], + "intelliSenseMode": "linux-gcc-x64", + "cStandard": "${default}", + "cppStandard": "${default}", + "compilerPath": "C:/cygwin64/bin/gcc.exe" + }, { "name": "Target 1", "includePath": [ - "d:\\workplace\\New-Infantry-C-Board-Legacy-1\\云台\\云台\\Start", - "d:\\workplace\\New-Infantry-C-Board-Legacy-1\\云台\\云台\\Library", - "d:\\workplace\\New-Infantry-C-Board-Legacy-1\\云台\\云台\\System", - "d:\\workplace\\New-Infantry-C-Board-Legacy-1\\云台\\云台\\Algorithm", - "d:\\workplace\\New-Infantry-C-Board-Legacy-1\\云台\\云台\\AHRS", - "d:\\workplace\\New-Infantry-C-Board-Legacy-1\\云台\\云台\\Hardware", - "d:\\workplace\\New-Infantry-C-Board-Legacy-1\\云台\\云台\\Motor", - "d:\\workplace\\New-Infantry-C-Board-Legacy-1\\云台\\云台\\Function", - "d:\\workplace\\New-Infantry-C-Board-Legacy-1\\云台\\云台\\Control", - "d:\\workplace\\New-Infantry-C-Board-Legacy-1\\云台\\云台\\CarBody", - "d:\\workplace\\New-Infantry-C-Board-Legacy-1\\云台\\云台\\User", - "C:\\Keil_v5\\ARM\\ARMCC\\include", - "C:\\Keil_v5\\ARM\\ARMCC\\include\\rw", - "d:\\workplace\\New-Infantry-C-Board-Legacy-1\\云台\\云台\\Carbody" + "c:\\Users\\LSMushui\\Desktop\\RM\\test-rope\\云台\\云台\\Start", + "c:\\Users\\LSMushui\\Desktop\\RM\\test-rope\\云台\\云台\\Library", + "c:\\Users\\LSMushui\\Desktop\\RM\\test-rope\\云台\\云台\\System", + "c:\\Users\\LSMushui\\Desktop\\RM\\test-rope\\云台\\云台\\Algorithm", + "c:\\Users\\LSMushui\\Desktop\\RM\\test-rope\\云台\\云台\\AHRS", + "c:\\Users\\LSMushui\\Desktop\\RM\\test-rope\\云台\\云台\\Hardware", + "c:\\Users\\LSMushui\\Desktop\\RM\\test-rope\\云台\\云台\\Motor", + "c:\\Users\\LSMushui\\Desktop\\RM\\test-rope\\云台\\云台\\Function", + "c:\\Users\\LSMushui\\Desktop\\RM\\test-rope\\云台\\云台\\Control", + "c:\\Users\\LSMushui\\Desktop\\RM\\test-rope\\云台\\云台\\CarBody", + "c:\\Users\\LSMushui\\Desktop\\RM\\test-rope\\云台\\云台\\User", + "c:\\Users\\LSMushui\\Desktop\\RM\\test-rope\\云台\\云台\\Carbody" ], "defines": [ "USE_STDPERIPH_DRIVER", diff --git a/云台/云台/.vscode/keil-assistant.log b/云台/云台/.vscode/keil-assistant.log index 049b4c1..8520a9c 100644 --- a/云台/云台/.vscode/keil-assistant.log +++ b/云台/云台/.vscode/keil-assistant.log @@ -95,15 +95,13 @@ [info] Log at : 2025/10/23|09:40:31|GMT+0800 -[info] Log at : 2025/12/6|19:19:47|GMT+0800 +[info] Log at : 2026/1/11|17:02:33|GMT+0800 -[info] Log at : 2025/12/8|13:08:58|GMT+0800 +[info] Log at : 2026/1/25|08:06:12|GMT+0800 -[info] Log at : 2025/12/10|18:02:38|GMT+0800 +[info] Log at : 2026/2/1|23:42:36|GMT+0800 -[info] Log at : 2025/12/10|18:02:47|GMT+0800 +[info] Log at : 2026/3/9|14:44:08|GMT+0800 -[info] Log at : 2025/12/10|18:23:26|GMT+0800 - -[info] Log at : 2025/12/11|19:32:44|GMT+0800 +[info] Log at : 2026/3/10|13:56:39|GMT+0800 diff --git a/云台/云台/CarBody/Gimbal.c b/云台/云台/CarBody/Gimbal.c index 23b4cf0..b9c53a5 100644 --- a/云台/云台/CarBody/Gimbal.c +++ b/云台/云台/CarBody/Gimbal.c @@ -12,7 +12,7 @@ #include "Visual.h" #include "WaveFiltering_Kalman_Filtering.h" -KFP kfp_PITCH={0.02,0,0,0,0.01,0.543};//卡尔曼滤波器结构体 +KFP kfp_PITCH={0.02,0,0,0,0.001,0.543};//卡尔曼滤波器结构体 @@ -71,14 +71,14 @@ void Gimbal_Init(void) PID_PositionSetOUTRange(&Gimbal_YawAngleSpeedPID,-30000,30000); PID_PositionStructureInit(&Gimbal_PitchAnglePositionPID,0);//Pitch轴陀螺仪闭环 - PID_PositionSetParameter(&Gimbal_PitchAnglePositionPID,15,0,10); + PID_PositionSetParameter(&Gimbal_PitchAnglePositionPID,15,0,100); PID_PositionSetEkRange(&Gimbal_PitchAnglePositionPID,-1,1); - PID_PositionSetOUTRange(&Gimbal_PitchAnglePositionPID,-150,150); + PID_PositionSetOUTRange(&Gimbal_PitchAnglePositionPID,-200,200); PID_PositionStructureInit(&Gimbal_PitchAngleSpeedPID,300); PID_PositionSetParameter(&Gimbal_PitchAngleSpeedPID,150,0.001,5); PID_PositionSetEkRange(&Gimbal_PitchAngleSpeedPID,-5,5); - PID_PositionSetOUTRange(&Gimbal_PitchAngleSpeedPID,-60000,60000); + PID_PositionSetOUTRange(&Gimbal_PitchAngleSpeedPID,-30000,30000); PID_PositionStructureInit(&Gimbal_L_FrictionWheelPID,0);//左摩擦轮 PID_PositionSetParameter(&Gimbal_L_FrictionWheelPID,16,0,30); @@ -131,14 +131,16 @@ void Gimbal_PitchControl(void) { float use_pitch=0,lastpitch=0,lastyaw=0; if(Remote_StartFlag==2)Gimbal_PitchAnglePositionPID.Need_Value=0;//遥控器刚建立连接时,复位Pitch轴角度 - if(((Remote_RxData.Remote_L_UD>1050 && RefereeSystem_Status==0) || (1024+Remote_RxData.Remote_Mouse_DU*3)<1000) )//&& AttitudeAlgorithms_DegRoll1050 && RefereeSystem_Status==0) || (1024+Remote_RxData.Remote_Mouse_DU*3)<1000) && GM6020_MotorStatus[Gimbal_PitchMotor-0x205].Position>Pitch_GM6020PositionUpperLinit) { Gimbal_PitchAnglePositionPID.Need_Value-=Gimbal_LeverSpeedMapRate/8192.0f*360.0f;//通过遥控器或者鼠标获取俯仰情况 //if(GM6020_MotorStatus[Gimbal_PitchMotor-0x205].Angle<=Pitch_GM6020PositionUpperLinit) //Gimbal_PitchAnglePositionPID.Need_Value=0; } - else if(((Remote_RxData.Remote_L_UD<1000 && RefereeSystem_Status==0) || (1024+Remote_RxData.Remote_Mouse_DU*3)>1050) )//&& AttitudeAlgorithms_DegRoll>Pitch_GM6020AngleLowerLinit) + else if(((Remote_RxData.Remote_L_UD<1000 && RefereeSystem_Status==0) || (1024+Remote_RxData.Remote_Mouse_DU*3)>1050) && GM6020_MotorStatus[Gimbal_PitchMotor-0x205].Position=Pitch_GM6020PositionLowerLinit) @@ -149,29 +151,28 @@ void Gimbal_PitchControl(void) use_pitch=0.5f*Visual_Pitch; use_yaw=0.5f*Visual_Yaw; - if(use_pitch > 10 && use_pitch < -10) use_pitch=0; //防止UART干扰数据移位疯车 - if(use_yaw > 10 && use_yaw < -10) use_yaw=0; //何移位？ //pitch if(GM6020_MotorStatus[Gimbal_PitchMotor-0x205].Position>Pitch_GM6020PositionUpperLinit && Visual_Pitch>0) - Gimbal_PitchAnglePositionPID.Need_Value+=(float)use_pitch-lastpitch;//修改了pitch轴自瞄的实现方式 + Gimbal_PitchAnglePositionPID.Need_Value=AttitudeAlgorithms_DegRoll-(float)use_pitch-lastpitch; if(GM6020_MotorStatus[Gimbal_PitchMotor-0x205].Position1050 && RefereeSystem_Status==0) || 1024+PC_Spin*PC_Mouse_RLSensitivity>1050 || use_yaw !=0 )//根据摇杆改变偏航 { if(PC_Spin==0) - Gimbal_YawAnglePositionPID.Need_Value-=Gimbal_LeverSpeedMapRate*Gimbal_YawPitchSpeedRate*Gimbal_YawPitchSpeedRate*0.0439453125f*((Remote_RxData.Remote_L_RL-1024)/660.0f)-(float)use_yaw; + Gimbal_YawAnglePositionPID.Need_Value-=Gimbal_LeverSpeedMapRate*Gimbal_YawPitchSpeedRate*Gimbal_YawPitchSpeedRate*0.0439453125f*((Remote_RxData.Remote_L_RL-1024)/660.0f)+(float)use_yaw; else - Gimbal_YawAnglePositionPID.Need_Value-=Gimbal_LeverSpeedMapRate*Gimbal_YawPitchSpeedRate*Gimbal_YawPitchSpeedRate*0.0439453125f*(PC_Spin*PC_Mouse_RLSensitivity/660.0f*2)-(float)use_yaw; + Gimbal_YawAnglePositionPID.Need_Value-=Gimbal_LeverSpeedMapRate*Gimbal_YawPitchSpeedRate*Gimbal_YawPitchSpeedRate*0.0439453125f*(PC_Spin*PC_Mouse_RLSensitivity/660.0f*2)+(float)use_yaw; } else if((Remote_RxData.Remote_L_RL<1000 && RefereeSystem_Status==0) || 1024+PC_Spin*PC_Mouse_RLSensitivity<1000 || use_yaw !=0) { if(PC_Spin==0) - Gimbal_YawAnglePositionPID.Need_Value+=Gimbal_LeverSpeedMapRate*Gimbal_YawPitchSpeedRate*Gimbal_YawPitchSpeedRate*0.0439453125f*((1024-Remote_RxData.Remote_L_RL)/660.0f)-(float)use_yaw; + Gimbal_YawAnglePositionPID.Need_Value+=Gimbal_LeverSpeedMapRate*Gimbal_YawPitchSpeedRate*Gimbal_YawPitchSpeedRate*0.0439453125f*((1024-Remote_RxData.Remote_L_RL)/660.0f)+(float)use_yaw; else - Gimbal_YawAnglePositionPID.Need_Value-=Gimbal_LeverSpeedMapRate*Gimbal_YawPitchSpeedRate*Gimbal_YawPitchSpeedRate*0.0439453125f*(PC_Spin*PC_Mouse_RLSensitivity/660.0f*2)-(float)use_yaw; + Gimbal_YawAnglePositionPID.Need_Value-=Gimbal_LeverSpeedMapRate*Gimbal_YawPitchSpeedRate*Gimbal_YawPitchSpeedRate*0.0439453125f*(PC_Spin*PC_Mouse_RLSensitivity/660.0f*2)+(float)use_yaw; } - //Visual_Yaw=0; + Visual_Yaw=0; use_yaw=0; //串级PID闭环Yaw角 diff --git a/云台/云台/CarBody/Visual.c b/云台/云台/CarBody/Visual.c index ca6b057..92ba8ca 100644 --- a/云台/云台/CarBody/Visual.c +++ b/云台/云台/CarBody/Visual.c @@ -10,11 +10,7 @@ #include "PID.h" #include #include -<<<<<<< HEAD #include "BMI088.h" -======= -#include ->>>>>>> a6eb3f5ed5724a064e8286c2f8cd26fa9d4816e5 uint32_t Visual_Time=0;//视觉数据send时间 uint32_t Time_Out=0;//超时时间 @@ -24,16 +20,14 @@ int yaw=0 , pitch=0; static char dataType; // 存储类型字段（'r'/'b'/'u'） uint8_t USART_RX_BUF[100];//视觉数据jieshou缓冲区 -extern PID_PositionInitTypedef Gimbal_PitchAnglePositionPID,Gimbal_YawAnglePositionPID,Gimbal_YawAngleSpeedPID; - - +extern PID_PositionInitTypedef Gimbal_YawAnglePositionPID,Gimbal_YawAngleSpeedPID,Gimbal_PitchAnglePositionPID,Gimbal_PitchAngleSpeedPID;//Pitch轴GM6020电机PID; +extern float BMI088_GyroZeroOffset[3],BMI088_GyroWithoutOffset[3]; int16_t Visual_GetYaw,Visual_GetPitch,Visual_GetRoll,Visual_GetDelay;//视觉数据偏航角,视觉数据俯仰角 float Visual_Yaw,Visual_Pitch; uint8_t Visual_RxHEXPacket[4],Visual_ReceiveFlag;//视觉数据接收缓冲区,视觉数据接收完成标志位 -static uint8_t pitch_need_acc = 0; /* *函数简介:视觉初始化 *参数说明:无 @@ -74,38 +68,20 @@ void Visual_SendData(void) UART2_SendByte((uint8_t)1); UART2_SendByte((uint8_t)1); */ - //UART2_Printf("%d,%d,%f,%f\n",GM6020_MotorStatus[0].Speed,GM6020_MotorStatus[0].Angle,Gimbal_YawAnglePositionPID.OUT,Gimbal_YawAngleSpeedPID.OUT); -<<<<<<< HEAD + UART2_Printf("%lld",GM6020_MotorStatus[GM6020_2-0x205].Position); + UART2_Printf(",%f",Gimbal_PitchAnglePositionPID.Need_Value); + UART2_Printf(",%f",Gimbal_PitchAngleSpeedPID.Need_Value); + UART2_Printf(",%f\n",Gimbal_PitchAngleSpeedPID.OUT); //UART2_Printf("%f,%f,%f\n",AttitudeAlgorithms_DegPitch,AttitudeAlgorithms_DegYaw,BMI088_Temperature); - if(Visual_Pitch !=0 || Visual_Yaw != 0) UART2_Printf("%f,%f\n",Visual_Pitch,Visual_Yaw); -======= - //UART2_Printf("%d,%f,%f\n",Visual_ReceiveFlag,Visual_Yaw,Visual_Pitch); ->>>>>>> a6eb3f5ed5724a064e8286c2f8cd26fa9d4816e5 + //UART2_Printf("%f,%f,%f,%f,%f,%f\n",BMI088_Gyro[0],BMI088_Gyro[1],BMI088_GyroZeroOffset[0],BMI088_GyroZeroOffset[1],BMI088_GyroWithoutOffset[0],BMI088_GyroWithoutOffset[1]); //UART2_SendByte((uint8_t)'\n'); - //*if(Visual_ReceiveFlag == 1) - //UART2_Printf("%f %f %f %f \n",Visual_Yaw,Visual_Pitch,Visual_GetRoll,Visual_GetDelay);//*0.0030518509475997f*/ + //if(Visual_ReceiveFlag == 1) + //UART2_Printf("%f %f %f %f \n",Visual_Yaw,Visual_Pitch,Visual_GetRoll,Visual_GetDelay);//*0.0030518509475997f //if(Visual_ReceiveFlag == 1) //UART2_Printf("%f %f %f %f\n",Visual_Yaw,Visual_Pitch,AttitudeAlgorithms_DegYaw);//*0.0030518509475997f - // if (abs(Gimbal_PitchAnglePositionPID.Need_Value)>=20){ - // pitch_need_acc++; - // if (pitch_need_acc >= 40) { - // pitch_need_acc = 0; - // Gimbal_PitchAnglePositionPID.Need_Value *= 0.95f; - // } - // } - - - if (Gimbal_PitchAnglePositionPID.Need_Value>=8) - { - Gimbal_PitchAnglePositionPID.Need_Value=8; - } - else if(Gimbal_PitchAnglePositionPID.Need_Value<=-22) - { - Gimbal_PitchAnglePositionPID.Need_Value=-22; - } - - UART2_Printf("%f\n",Gimbal_PitchAnglePositionPID.Need_Value); + + @@ -146,7 +122,7 @@ char Visual_Type = '\0'; // 存储类型（r/b/u） uint8_t Visual_ReceiveFlag = 0; // 接收完成标志 // 静态变量（函数内部状态） -static char Visual_RxBuffer[64]; // 接收缓冲区（足够容纳最长帧） +static char Visual_RxBuffer[32]; // 接收缓冲区（足够容纳最长帧） static uint8_t RxState = 0; // 状态机：0-等待#，1-接收数据，2-解析 static uint8_t RxIndex = 0; // 缓冲区索引 static uint32_t RxTimeoutTick = 0;// 超时计时器（毫秒） @@ -225,10 +201,8 @@ static uint32_t RxTimeoutTick = 0;// 超时计时器（毫秒） Visual_GetPitch = pitch; // 角度转换（根据实际需求调整系数） - // Visual_Yaw = -(float)yaw * 0.03051850947599f; - // Visual_Pitch = -(float)pitch * 0.03051850947599f; - Visual_Yaw = (float)yaw * 0.03051850947599f; - Visual_Pitch = (float)pitch * 0.03051850947599f; + Visual_Yaw = -(float)yaw * 0.03051850947599f; + Visual_Pitch = -(float)pitch * 0.03051850947599f; Visual_ReceiveFlag = 1; // 置位完成标志 } diff --git a/云台/云台/Control/WaveFiltering_Kalman_Filtering.c b/云台/云台/Control/WaveFiltering_Kalman_Filtering.c index bbb654d..9cd23d7 100644 --- a/云台/云台/Control/WaveFiltering_Kalman_Filtering.c +++ b/云台/云台/Control/WaveFiltering_Kalman_Filtering.c @@ -29,4 +29,4 @@ float kalmanFilter(KFP *kfp,float input) kfp->LastP = (1-kfp->Kg) * kfp->Now_P; return kfp->out; } - \ No newline at end of file + diff --git a/云台/云台/Function/AttitudeAlgorithms.c b/云台/云台/Function/AttitudeAlgorithms.c index 99c04c6..40c01b5 100644 --- a/云台/云台/Function/AttitudeAlgorithms.c +++ b/云台/云台/Function/AttitudeAlgorithms.c @@ -5,14 +5,43 @@ #include "ahrs_lib.h" #include "WaveFiltering_Kalman_Filtering.h" -KFP kfp={0.02,0,0,0,0.01,0.543};//卡尔曼滤波器结构体 - +KFP kfp_Pitch={0.02,0,0,0,0.01,0.543};//陀螺仪Pitch轴卡尔曼滤波器结构体 +KFP kfp_Yaw={0.02,0,0,0,0.01,0.543};//陀螺仪yaw轴卡尔曼滤波器结构体 +//KFP kfp_Pitch={0.02,0,0,0,0.01,0.96};//陀螺仪Pitch轴卡尔曼滤波器结构体 +//KFP kfp_Yaw={0.02,0,0,0,0.01,0.96};//陀螺仪yaw轴卡尔曼滤波器结构体 float AttitudeAlgorithms_q[4];//姿态解算四元数 float AttitudeAlgorithms_RadYaw,AttitudeAlgorithms_RadPitch,AttitudeAlgorithms_RadRoll;//弧度制角度 float AttitudeAlgorithms_DegYaw,AttitudeAlgorithms_DegPitch,AttitudeAlgorithms_DegRoll;//角度制角度 +float BMI088_GyroZeroOffset[3];//陀螺仪初始零偏 +float BMI088_GyroWithoutOffset[3];//消除零偏后的陀螺仪数据 +float fake_IST8310[3]={0,0,0}; +/* + *函数简介:BMI088清除零偏 + *参数说明:无 + *返回类型:无 + *备注:采集前100次数据取平均值消除零偏 + */ +void ZeroOffset_Calibration(void) +{ + + uint16_t BMI088_CountFlag; + for (BMI088_CountFlag=0; BMI088_CountFlag < 1000; BMI088_CountFlag++) + { + BMI088_GyroZeroOffset[0]=BMI088_GyroZeroOffset[0]+BMI088_Gyro[0]; + } + BMI088_GyroZeroOffset[0]=BMI088_GyroZeroOffset[0]/1000; + + for (BMI088_CountFlag=0; BMI088_CountFlag < 1000; BMI088_CountFlag++) + { + BMI088_GyroZeroOffset[1]=BMI088_GyroZeroOffset[1]+BMI088_Gyro[1]; + } + BMI088_GyroZeroOffset[1]=BMI088_GyroZeroOffset[1]/1000; + + +} /* *函数简介:姿态解算初始化 *参数说明:无 @@ -49,6 +78,8 @@ void AttitudeAlgorithms_Init(void) IST8310_Init();//初始化IST8310 BMI088_Init();//初始化BMI088 + + AHRS_init(AttitudeAlgorithms_q,BMI088_Accel,IST8310_MagneticField);//AHRS初始化 TIM_Cmd(TIM11,ENABLE);//启动定时器 @@ -70,7 +101,13 @@ void TIM1_TRG_COM_TIM11_IRQHandler(void) { TIM_ClearITPendingBit(TIM11,TIM_IT_Update);//清除标志位 - AHRS_update(AttitudeAlgorithms_q,0.001f,BMI088_Gyro,BMI088_Accel,IST8310_MagneticField); + BMI088_GyroWithoutOffset[0]=BMI088_Gyro[0]+BMI088_GyroZeroOffset[0]; + BMI088_GyroWithoutOffset[1]=BMI088_Gyro[1]+BMI088_GyroZeroOffset[1]; + BMI088_GyroWithoutOffset[2]=BMI088_Gyro[2]; + //debug + //AHRS_update(AttitudeAlgorithms_q,0.001f,BMI088_Gyro,BMI088_Accel,IST8310_MagneticField); + + AHRS_update(AttitudeAlgorithms_q,0.001f,BMI088_GyroWithoutOffset,BMI088_Accel,fake_IST8310); get_angle(AttitudeAlgorithms_q,&AttitudeAlgorithms_RadYaw,&AttitudeAlgorithms_RadPitch,&AttitudeAlgorithms_RadRoll); AttitudeAlgorithms_LastDegYaw=AttitudeAlgorithms_ThisDegYaw; @@ -78,8 +115,8 @@ void TIM1_TRG_COM_TIM11_IRQHandler(void) AttitudeAlgorithms_DegPitch=AttitudeAlgorithms_RadPitch*57.295779513082320876798154814105f;//转换为角度制 AttitudeAlgorithms_DegRoll=AttitudeAlgorithms_RadRoll*57.295779513082320876798154814105f;//转换为角度制 - AttitudeAlgorithms_DegPitch=kalmanFilter(&kfp,AttitudeAlgorithms_DegPitch); - AttitudeAlgorithms_DegRoll=kalmanFilter(&kfp,AttitudeAlgorithms_DegRoll); + AttitudeAlgorithms_DegPitch=kalmanFilter(&kfp_Pitch,AttitudeAlgorithms_DegPitch); + AttitudeAlgorithms_DegRoll=kalmanFilter(&kfp_Yaw,AttitudeAlgorithms_DegRoll); if(AttitudeAlgorithms_YawFirstFlag==0)//获取带圈数的角度制偏航角 diff --git a/云台/云台/Function/AttitudeAlgorithms.h b/云台/云台/Function/AttitudeAlgorithms.h index f3ce03d..94c1706 100644 --- a/云台/云台/Function/AttitudeAlgorithms.h +++ b/云台/云台/Function/AttitudeAlgorithms.h @@ -5,5 +5,6 @@ extern float AttitudeAlgorithms_RadYaw,AttitudeAlgorithms_RadPitch,AttitudeAlgor extern float AttitudeAlgorithms_DegYaw,AttitudeAlgorithms_DegPitch,AttitudeAlgorithms_DegRoll;//角度制角度 void AttitudeAlgorithms_Init(void);//姿态解算初始化 +void ZeroOffset_Calibration(void); #endif diff --git a/云台/云台/Hardware/BMI088.c b/云台/云台/Hardware/BMI088.c index 7598843..8f63837 100644 --- a/云台/云台/Hardware/BMI088.c +++ b/云台/云台/Hardware/BMI088.c @@ -343,6 +343,7 @@ void BMI088_Init(void) BMI088_SPI_AccelWriteRegister(BMI088_INT1_INT2_MAP_DATA,0x04);BMI088_Delay_us(300);//配置INT1中断映射为数据就绪中断 BMI088_SPI_GyroWriteRegister(BMI088_GYRO_RANGE,0x00);BMI088_Delay_us(300);//配置陀螺仪量程±2000°/s + //BMI088_SPI_GyroWriteRegister(BMI088_GYRO_BANDWIDTH,0x81);BMI088_Delay_us(300); BMI088_SPI_GyroWriteRegister(BMI088_GYRO_BANDWIDTH,0x82);BMI088_Delay_us(300);//配置陀螺仪滤波器带宽116Hz,1000Hz输出(写此寄存器,写入数据最高位需要为1) 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zri+Dtj!0*;u^OkHuJHMlTqhqvhq8oss~X-JOKX=_4R07Wo<#hes^Rfr)LBOI<5k0( zVA1%nYT->>Project: -C:\Users\LSMushui\Desktop\RM\New-Infantry-C-Board-Legacy\̨\̨\Project.uvprojx +C:\Users\LSMushui\Desktop\RM\test-rope\̨\̨\Project.uvprojx Project File Date: 11/02/2025

Output:

*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\Bin' Rebuild target 'Target 1' assembling startup_stm32f40_41xxx.s... -compiling misc.c... compiling system_stm32f4xx.c... +compiling misc.c... compiling stm32f4xx_crc.c... -compiling stm32f4xx_adc.c... -compiling stm32f4xx_cryp_tdes.c... -compiling stm32f4xx_cryp.c... -compiling stm32f4xx_can.c... -compiling stm32f4xx_dcmi.c... -compiling stm32f4xx_dsi.c... -compiling stm32f4xx_flash_ramfunc.c... -compiling stm32f4xx_cryp_aes.c... compiling stm32f4xx_cec.c... -compiling stm32f4xx_fmpi2c.c... -compiling stm32f4xx_dac.c... compiling stm32f4xx_cryp_des.c... -compiling stm32f4xx_dfsdm.c... +compiling stm32f4xx_fmpi2c.c... +compiling stm32f4xx_cryp_tdes.c... +compiling stm32f4xx_can.c... +compiling stm32f4xx_cryp.c... compiling stm32f4xx_exti.c... -compiling stm32f4xx_dbgmcu.c... -compiling stm32f4xx_gpio.c... -compiling stm32f4xx_dma2d.c... +compiling stm32f4xx_adc.c... compiling stm32f4xx_fsmc.c... +compiling stm32f4xx_dbgmcu.c... +compiling stm32f4xx_flash_ramfunc.c... +compiling stm32f4xx_dfsdm.c... +compiling stm32f4xx_dsi.c... +compiling stm32f4xx_dac.c... +compiling stm32f4xx_gpio.c... compiling stm32f4xx_dma.c... +compiling stm32f4xx_dma2d.c... compiling stm32f4xx_flash.c... -compiling stm32f4xx_hash_md5.c... +compiling stm32f4xx_dcmi.c... +compiling stm32f4xx_cryp_aes.c... compiling stm32f4xx_hash.c... +compiling stm32f4xx_hash_md5.c... compiling stm32f4xx_hash_sha1.c... +compiling stm32f4xx_iwdg.c... compiling stm32f4xx_lptim.c... compiling stm32f4xx_i2c.c... -compiling stm32f4xx_iwdg.c... -compiling stm32f4xx_pwr.c... compiling stm32f4xx_qspi.c... -compiling stm32f4xx_ltdc.c... compiling stm32f4xx_rng.c... -compiling stm32f4xx_rcc.c... +compiling stm32f4xx_pwr.c... +compiling stm32f4xx_ltdc.c... compiling stm32f4xx_sai.c... +compiling stm32f4xx_rcc.c... compiling stm32f4xx_sdio.c... compiling stm32f4xx_spdifrx.c... -compiling Delay.c... -compiling TIM.c... -compiling stm32f4xx_syscfg.c... -compiling stm32f4xx_wwdg.c... -compiling AHRS_middleware.c... -compiling user_lib.c... -compiling stm32f4xx_spi.c... -compiling stm32f4xx_usart.c... -compiling UART.c... compiling stm32f4xx_rtc.c... +compiling stm32f4xx_syscfg.c... +compiling TIM.c... +compiling stm32f4xx_spi.c... +compiling Delay.c... +compiling stm32f4xx_wwdg.c... +compiling stm32f4xx_usart.c... +compiling AHRS_middleware.c... +compiling UART.c... +compiling user_lib.c... compiling stm32f4xx_tim.c... +compiling MyI2C.c... compiling WaveFiltering_Kalman_Filtering.c... Control\WaveFiltering_Kalman_Filtering.c(13): warning: #177-D: variable "pDst" was declared but never referenced float pDst,pDst1=1.0f; Control\WaveFiltering_Kalman_Filtering.c(13): warning: #177-D: variable "pDst1" was declared but never referenced float pDst,pDst1=1.0f; -Control\WaveFiltering_Kalman_Filtering.c(32): warning: #1-D: last line of file ends without a newline - -Control\WaveFiltering_Kalman_Filtering.c: 3 warnings, 0 errors -compiling MyI2C.c... +Control\WaveFiltering_Kalman_Filtering.c: 2 warnings, 0 errors +compiling CAN.c... compiling LED.c... compiling Buzzer.c... -compiling CAN.c... compiling Remote.c... compiling IST8310.c... -compiling BMI088.c... compiling Laser.c... +compiling BMI088.c... compiling M3508.c... compiling GM6020.c... compiling M2006.c... @@ -99,32 +97,32 @@ compiling LinkCheck.c... compiling Warming.c... compiling CToC.c... compiling CloseLoopControl.c... -compiling PID.c... compiling AttitudeAlgorithms.c... compiling IMUTemperatureControl.c... +compiling PID.c... compiling RefereeSystem.c... +compiling Keyboard.c... compiling Gimbal.c... CarBody\Gimbal.c(132): warning: #177-D: variable "lastyaw" was declared but never referenced float use_pitch=0,lastpitch=0,lastyaw=0; CarBody\Gimbal.c: 1 warning, 0 errors compiling Visual.c... -CarBody\Visual.c(117): warning: #550-D: variable "Visual_Type" was set but never used +CarBody\Visual.c(119): warning: #550-D: variable "Visual_Type" was set but never used char Visual_Type = '\0'; // 存储类型（r/b/u? -CarBody\Visual.c(120): warning: #550-D: variable "Visual_ReceiveFlag" was set but never used +CarBody\Visual.c(122): warning: #550-D: variable "Visual_ReceiveFlag" was set but never used uint8_t Visual_ReceiveFlag = 0; // 接收完成标志 -CarBody\Visual.c(126): warning: #550-D: variable "RxTimeoutTick" was set but never used +CarBody\Visual.c(128): warning: #550-D: variable "RxTimeoutTick" was set but never used static uint32_t RxTimeoutTick = 0;// 超时计时器（毫秒? -CarBody\Visual.c(290): warning: #1-D: last line of file ends without a newline +CarBody\Visual.c(292): warning: #1-D: last line of file ends without a newline */ CarBody\Visual.c(20): warning: #177-D: variable "dataType" was declared but never referenced static char dataType; // 存储类型字段?'r'/'b'/'u'? CarBody\Visual.c: 5 warnings, 0 errors -compiling Keyboard.c... -compiling stm32f4xx_it.c... compiling main.c... +compiling stm32f4xx_it.c... linking... -Program Size: Code=32220 RO-data=1372 RW-data=580 ZI-data=3372 -".\Objects\Project.axf" - 0 Error(s), 9 Warning(s). +Program Size: Code=32376 RO-data=1372 RW-data=604 ZI-data=3372 +".\Objects\Project.axf" - 0 Error(s), 8 Warning(s).

Software Packages used:

diff --git a/云台/云台/Objects/Project.htm b/云台/云台/Objects/Project.htm index f722c4a..a7d8735 100644 --- a/云台/云台/Objects/Project.htm +++ b/云台/云台/Objects/Project.htm @@ -3,7 +3,7 @@ Static Call Graph - [.\Objects\Project.axf]

Static Call Graph for image .\Objects\Project.axf

-

#<CALLGRAPH># ARM Linker, 5060960: Last Updated: Mon Jan 12 16:05:33 2026 +

#<CALLGRAPH># ARM Linker, 5060960: Last Updated: Tue Mar 10 14:28:10 2026

Maximum Stack Usage = 280 bytes + Unknown(Cycles, Untraceable Function Pointers)

Call chain for Maximum Stack Depth:

@@ -121,7 +121,7 @@ Global Symbols

__main (Thumb, 0 bytes, Stack size unknown bytes, entry.o(.ARM.Collect$$$$00000000))
[Address Reference Count : 1]

  • startup_stm32f40_41xxx.o(.text)
-

_main_stk (Thumb, 0 bytes, Stack size unknown bytes, entry2.o(.ARM.Collect$$$$00000001)) +

_main_stk (Thumb, 0 bytes, Stack size unknown bytes, entry2.o(.ARM.Collect$$$$00000001))

_main_scatterload (Thumb, 0 bytes, Stack size unknown bytes, entry5.o(.ARM.Collect$$$$00000004))

[Calls]

  • >>   __scatterload @@ -131,17 +131,17 @@ Global Symbols

    [Called By]
    • >>   __scatterload
    -

    _main_clock (Thumb, 0 bytes, Stack size unknown bytes, entry7b.o(.ARM.Collect$$$$00000008)) +

    _main_clock (Thumb, 0 bytes, Stack size unknown bytes, entry7b.o(.ARM.Collect$$$$00000008)) -

    _main_cpp_init (Thumb, 0 bytes, Stack size unknown bytes, entry8b.o(.ARM.Collect$$$$0000000A)) +

    _main_cpp_init (Thumb, 0 bytes, Stack size unknown bytes, entry8b.o(.ARM.Collect$$$$0000000A)) -

    _main_init (Thumb, 0 bytes, Stack size unknown bytes, entry9a.o(.ARM.Collect$$$$0000000B)) +

    _main_init (Thumb, 0 bytes, Stack size unknown bytes, entry9a.o(.ARM.Collect$$$$0000000B)) -

    __rt_lib_shutdown_fini (Thumb, 0 bytes, Stack size unknown bytes, entry12b.o(.ARM.Collect$$$$0000000E)) +

    __rt_lib_shutdown_fini (Thumb, 0 bytes, Stack size unknown bytes, entry12b.o(.ARM.Collect$$$$0000000E)) -

    __rt_final_cpp (Thumb, 0 bytes, Stack size unknown bytes, entry10a.o(.ARM.Collect$$$$0000000F)) +

    __rt_final_cpp (Thumb, 0 bytes, Stack size unknown bytes, entry10a.o(.ARM.Collect$$$$0000000F)) -

    __rt_final_exit (Thumb, 0 bytes, Stack size unknown bytes, entry11a.o(.ARM.Collect$$$$00000011)) +

    __rt_final_exit (Thumb, 0 bytes, Stack size unknown bytes, entry11a.o(.ARM.Collect$$$$00000011))

    Reset_Handler (Thumb, 8 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
    [Address Reference Count : 1]

    • startup_stm32f40_41xxx.o(RESET) @@ -368,9 +368,9 @@ Global Symbols
    • >>   __aeabi_memclr
    -

    __aeabi_memset4 (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED) +

    __aeabi_memset4 (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED) -

    __aeabi_memset8 (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED) +

    __aeabi_memset8 (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)

    __aeabi_memclr (Thumb, 4 bytes, Stack size 0 bytes, memseta.o(.text))

    [Calls]

    • >>   __aeabi_memset @@ -382,7 +382,7 @@ Global Symbols

      [Called By]
      • >>   AHRS_update
      -

      __aeabi_memclr8 (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED) +

      __aeabi_memclr8 (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)

      _memset$wrapper (Thumb, 18 bytes, Stack size 8 bytes, memseta.o(.text), UNUSED)

      [Calls]

      • >>   __aeabi_memset @@ -432,7 +432,7 @@ Global Symbols

        [Called By]
        • >>   Visual_SendData
        -

        __aeabi_uidiv (Thumb, 0 bytes, Stack size 12 bytes, uidiv.o(.text), UNUSED) +

        __aeabi_uidiv (Thumb, 0 bytes, Stack size 12 bytes, uidiv.o(.text), UNUSED)

        __aeabi_uidivmod (Thumb, 44 bytes, Stack size 12 bytes, uidiv.o(.text), UNUSED)

        [Called By]

        • >>   _printf_core @@ -457,7 +457,7 @@ Global Symbols
        • >>   __aeabi_d2ulz
        -

        _ll_shift_l (Thumb, 0 bytes, Stack size 0 bytes, llshl.o(.text), UNUSED) +

        _ll_shift_l (Thumb, 0 bytes, Stack size 0 bytes, llshl.o(.text), UNUSED)

        strtol (Thumb, 112 bytes, Stack size 32 bytes, strtol.o(.text))

        [Stack]

        • Max Depth = 72
        • Call Chain = strtol ⇒ _strtoul @@ -469,9 +469,9 @@ Global Symbols
          [Called By]
          • >>   atoi
          -

          __I$use$fp (Thumb, 0 bytes, Stack size 0 bytes, iusefp.o(.text), UNUSED) +

          __I$use$fp (Thumb, 0 bytes, Stack size 0 bytes, iusefp.o(.text), UNUSED) -

          _float_round (Thumb, 18 bytes, Stack size 0 bytes, fepilogue.o(.text), UNUSED) +

          _float_round (Thumb, 18 bytes, Stack size 0 bytes, fepilogue.o(.text), UNUSED)

          _float_epilogue (Thumb, 92 bytes, Stack size 4 bytes, fepilogue.o(.text))

          [Stack]

          • Max Depth = 4
          • Call Chain = _float_epilogue @@ -527,7 +527,7 @@ Global Symbols
            [Called By]
            • >>   _main_scatterload
            -

            __scatterload_rt2 (Thumb, 0 bytes, Stack size 0 bytes, init.o(.text), UNUSED) +

            __scatterload_rt2 (Thumb, 0 bytes, Stack size 0 bytes, init.o(.text), UNUSED)

            __aeabi_llsr (Thumb, 32 bytes, Stack size 0 bytes, llushr.o(.text))

            [Called By]

            • >>   _double_epilogue @@ -535,13 +535,13 @@ Global Symbols
            • >>   __aeabi_d2ulz
            -

            _ll_ushift_r (Thumb, 0 bytes, Stack size 0 bytes, llushr.o(.text), UNUSED) +

            _ll_ushift_r (Thumb, 0 bytes, Stack size 0 bytes, llushr.o(.text), UNUSED)

            __aeabi_lasr (Thumb, 36 bytes, Stack size 0 bytes, llsshr.o(.text), UNUSED)

            [Called By]

            • >>   __aeabi_dadd
            -

            _ll_sshift_r (Thumb, 0 bytes, Stack size 0 bytes, llsshr.o(.text), UNUSED) +

            _ll_sshift_r (Thumb, 0 bytes, Stack size 0 bytes, llsshr.o(.text), UNUSED)

            __rt_ctype_table (Thumb, 4 bytes, Stack size 0 bytes, ctype_o.o(.text))

            [Called By]

            • >>   strtol @@ -575,9 +575,9 @@ Global Symbols

              [Called By]
              • >>   _strtoul
              -

              __decompress (Thumb, 0 bytes, Stack size unknown bytes, __dczerorl2.o(.text), UNUSED) +

              __decompress (Thumb, 0 bytes, Stack size unknown bytes, __dczerorl2.o(.text), UNUSED) -

              __decompress1 (Thumb, 86 bytes, Stack size unknown bytes, __dczerorl2.o(.text), UNUSED) +

              __decompress1 (Thumb, 86 bytes, Stack size unknown bytes, __dczerorl2.o(.text), UNUSED)

              AHRS_asinf (Thumb, 24 bytes, Stack size 16 bytes, ahrs_middleware.o(i.AHRS_asinf))

              [Stack]

              • Max Depth = 48
              • Call Chain = AHRS_asinf ⇒ __hardfp_asinf ⇒ sqrtf @@ -1302,7 +1302,7 @@ Global Symbols
                [Called By]
                • >>   TIM6_DAC_IRQHandler
                -

                Gimbal_PitchControl (Thumb, 540 bytes, Stack size 24 bytes, gimbal.o(i.Gimbal_PitchControl)) +

                Gimbal_PitchControl (Thumb, 444 bytes, Stack size 24 bytes, gimbal.o(i.Gimbal_PitchControl))

                [Stack]

                • Max Depth = 24
                • Call Chain = Gimbal_PitchControl

                [Calls]
                • >>   PID_PositionCalc @@ -1319,7 +1319,7 @@ Global Symbols
                  [Called By]
                  • >>   Gimbal_MoveControl
                  -

                  Gimbal_YawControl (Thumb, 508 bytes, Stack size 8 bytes, gimbal.o(i.Gimbal_YawControl)) +

                  Gimbal_YawControl (Thumb, 518 bytes, Stack size 8 bytes, gimbal.o(i.Gimbal_YawControl))

                  [Stack]

                  • Max Depth = 64
                  • Call Chain = Gimbal_YawControl ⇒ GM6020_CAN2SetLIDVoltage ⇒ CAN_TransmitStatus

                  [Calls]
                  • >>   PID_PositionCalc @@ -1407,7 +1407,7 @@ Global Symbols

                    [Called By]
                    • >>   Remote_Init
                    -

                    IWDG_ReloadCounter (Thumb, 10 bytes, Stack size 0 bytes, stm32f4xx_iwdg.o(i.IWDG_ReloadCounter)) +

                    IWDG_ReloadCounter (Thumb, 10 bytes, Stack size 0 bytes, stm32f4xx_iwdg.o(i.IWDG_ReloadCounter))

                    [Called By]

                    • >>   main
                    @@ -2038,7 +2038,7 @@ Global Symbols

                  [Address Reference Count : 1]
                  • startup_stm32f40_41xxx.o(.text)
                  -

                  TIM1_TRG_COM_TIM11_IRQHandler (Thumb, 308 bytes, Stack size 8 bytes, attitudealgorithms.o(i.TIM1_TRG_COM_TIM11_IRQHandler)) +

                  TIM1_TRG_COM_TIM11_IRQHandler (Thumb, 366 bytes, Stack size 8 bytes, attitudealgorithms.o(i.TIM1_TRG_COM_TIM11_IRQHandler))

                  [Stack]

                  • Max Depth = 280
                  • Call Chain = TIM1_TRG_COM_TIM11_IRQHandler ⇒ AHRS_update ⇒ accel_comple_filter ⇒ accel_update_kp_ki ⇒ AHRS_invSqrt ⇒ __hardfp_sqrtf

                  [Calls]
                  • >>   TIM_GetITStatus @@ -2342,8 +2342,8 @@ Global Symbols
                    [Called By]
                    • >>   main
                    -

                    Visual_SendData (Thumb, 86 bytes, Stack size 32 bytes, visual.o(i.Visual_SendData)) -

                    [Stack]

                    • Max Depth = 184
                    • Call Chain = Visual_SendData ⇒ UART2_Printf ⇒ UART2_SendString ⇒ UART2_SendByte +

                      Visual_SendData (Thumb, 116 bytes, Stack size 24 bytes, visual.o(i.Visual_SendData)) +

                      [Stack]

                      • Max Depth = 176
                      • Call Chain = Visual_SendData ⇒ UART2_Printf ⇒ UART2_SendString ⇒ UART2_SendByte

                      [Calls]
                      • >>   UART2_Printf
                      • >>   __aeabi_f2d @@ -2453,16 +2453,20 @@ Global Symbols
                        [Called By]
                        • >>   TIM7_IRQHandler
                        +

                        ZeroOffset_Calibration (Thumb, 110 bytes, Stack size 0 bytes, attitudealgorithms.o(i.ZeroOffset_Calibration)) +

                        [Called By]

                        • >>   main +
                        +

                        __0vsprintf (Thumb, 30 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf), UNUSED)

                        [Calls]

                        • >>   _sputc
                        • >>   _printf_core
                        -

                        __1vsprintf (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf), UNUSED) +

                        __1vsprintf (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf), UNUSED) -

                        __2vsprintf (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf), UNUSED) +

                        __2vsprintf (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf), UNUSED) -

                        __c89vsprintf (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf), UNUSED) +

                        __c89vsprintf (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf), UNUSED)

                        vsprintf (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf))

                        [Stack]

                        • Max Depth = 24
                        • Call Chain = vsprintf @@ -2482,7 +2486,7 @@ Global Symbols
                        • >>   atoi
                        -

                        __rt_errno_addr (Thumb, 0 bytes, Stack size 0 bytes, errno.o(i.__aeabi_errno_addr), UNUSED) +

                        __rt_errno_addr (Thumb, 0 bytes, Stack size 0 bytes, errno.o(i.__aeabi_errno_addr), UNUSED)

                        __hardfp_asinf (Thumb, 258 bytes, Stack size 16 bytes, asinf.o(i.__hardfp_asinf))

                        [Stack]

                        • Max Depth = 32
                        • Call Chain = __hardfp_asinf ⇒ sqrtf @@ -2569,11 +2573,11 @@ Global Symbols
                        • >>   __hardfp_cosf
                        -

                        __scatterload_copy (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_copy), UNUSED) +

                        __scatterload_copy (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_copy), UNUSED) -

                        __scatterload_null (Thumb, 2 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_null), UNUSED) +

                        __scatterload_null (Thumb, 2 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_null), UNUSED) -

                        __scatterload_zeroinit (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_zeroinit), UNUSED) +

                        __scatterload_zeroinit (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_zeroinit), UNUSED)

                        __set_errno (Thumb, 6 bytes, Stack size 0 bytes, errno.o(i.__set_errno))

                        [Called By]

                        • >>   sqrtf @@ -2597,16 +2601,17 @@ Global Symbols

                          [Called By]
                          • >>   TIM1_TRG_COM_TIM11_IRQHandler
                          -

                          main (Thumb, 132 bytes, Stack size 0 bytes, main.o(i.main)) +

                          main (Thumb, 142 bytes, Stack size 0 bytes, main.o(i.main))

                          [Stack]

                          • Max Depth = 204
                          • Call Chain = main ⇒ AttitudeAlgorithms_Init ⇒ AHRS_init ⇒ angle_to_quat ⇒ AHRS_sinf ⇒ __hardfp_sinf ⇒ __mathlib_rredf2
                          -
                          [Calls]
                          • >>   IWDG_ReloadCounter +
                            [Calls]
                            • >>   IWDG_ReloadCounter
                            • >>   Remote_Init
                            • >>   LED_BON
                            • >>   UART2_Printf
                            • >>   Delay_us
                            • >>   Delay_s
                            • >>   RefereeSystem_Init +
                            • >>   ZeroOffset_Calibration
                            • >>   AttitudeAlgorithms_Init
                            • >>   CloseLoopControl_Init
                            • >>   CToC_MasterSendData diff --git a/云台/云台/Objects/Project_Target 1.dep b/云台/云台/Objects/Project_Target 1.dep index d490360..8b7b6d8 100644 --- a/云台/云台/Objects/Project_Target 1.dep +++ b/云台/云台/Objects/Project_Target 1.dep @@ -1926,7 +1926,7 @@ I (.\System\UART.h)(0x669D08B6) I (.\Function\Warming.h)(0x66A19ADE) I (.\CarBody\RefereeSystem.h)(0x66A1C17E) F (.\Hardware\Remote.h)(0x67DE79C2)() -F (.\Hardware\BMI088.c)(0x65F6838A)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186 -IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U" -o .\objects\bmi088.o --omf_browse .\objects\bmi088.crf --depend .\objects\bmi088.d) +F (.\Hardware\BMI088.c)(0x6975623B)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186 -IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U" -o .\objects\bmi088.o --omf_browse .\objects\bmi088.crf --depend .\objects\bmi088.d) I (.\Start\stm32f4xx.h)(0x66256792) I (.\Start\core_cm4.h)(0x64D03162) I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2) @@ -2273,7 +2273,7 @@ I (.\Library\stm32f4xx_dcmi.h)(0x64D03164) I (.\Library\stm32f4xx_fsmc.h)(0x64D03164) I (.\Hardware\Remote.h)(0x67DE79C2) I (Function\CToC.h)(0x669D31F6) -I (.\User\Parameter.h)(0x69301917) +I (.\User\Parameter.h)(0x697F8867) I (.\CarBody\RefereeSystem.h)(0x66A1C17E) F (.\Function\CToC.h)(0x669D31F6)() F (.\Function\CloseLoopControl.c)(0x68AEFC16)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186 -IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U" -o .\objects\closeloopcontrol.o --omf_browse .\objects\closeloopcontrol.crf --depend .\objects\closeloopcontrol.d) @@ -2318,7 +2318,7 @@ I (Function\Warming.h)(0x66A19ADE) I (.\CarBody\Gimbal.h)(0x67B825A8) I (.\CarBody\Visual.h)(0x67B846AB) F (.\Function\CloseLoopControl.h)(0x65B10F2C)() -F (.\Function\AttitudeAlgorithms.c)(0x67B86322)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186 -IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U" -o .\objects\attitudealgorithms.o --omf_browse .\objects\attitudealgorithms.crf --depend .\objects\attitudealgorithms.d) +F (.\Function\AttitudeAlgorithms.c)(0x69AFB9F0)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186 -IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U" -o .\objects\attitudealgorithms.o --omf_browse .\objects\attitudealgorithms.crf --depend .\objects\attitudealgorithms.d) I (.\Start\stm32f4xx.h)(0x66256792) I (.\Start\core_cm4.h)(0x64D03162) I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2) @@ -2360,7 +2360,7 @@ I (.\AHRS\AHRS_MiddleWare.h)(0x64E14258) I (.\AHRS\struct_typedef.h)(0x64E14258) I (.\Control\WaveFiltering_Kalman_Filtering.h)(0x67B835FF) I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5E8E3CC2) -F (.\Function\AttitudeAlgorithms.h)(0x660A3E88)() +F (.\Function\AttitudeAlgorithms.h)(0x6970B202)() F (.\Function\IMUTemperatureControl.c)(0x69635FAB)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186 -IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U" -o .\objects\imutemperaturecontrol.o --omf_browse .\objects\imutemperaturecontrol.crf --depend .\objects\imutemperaturecontrol.d) I (.\Start\stm32f4xx.h)(0x66256792) I (.\Start\core_cm4.h)(0x64D03162) @@ -2437,12 +2437,12 @@ I (.\Library\stm32f4xx_dcmi.h)(0x64D03164) I (.\Library\stm32f4xx_fsmc.h)(0x64D03164) I (Control\PID.h)(0x68BF8A63) F (.\Control\PID.h)(0x68BF8A63)() -F (.\Control\WaveFiltering_Kalman_Filtering.c)(0x67B836EC)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186 -IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U" -o .\objects\wavefiltering_kalman_filtering.o --omf_browse .\objects\wavefiltering_kalman_filtering.crf --depend .\objects\wavefiltering_kalman_filtering.d) +F (.\Control\WaveFiltering_Kalman_Filtering.c)(0x6970BD73)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186 -IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U" -o .\objects\wavefiltering_kalman_filtering.o --omf_browse .\objects\wavefiltering_kalman_filtering.crf --depend .\objects\wavefiltering_kalman_filtering.d) I (Control\WaveFiltering_Kalman_Filtering.h)(0x67B835FF) I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2) I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5E8E3CC2) F (.\Control\WaveFiltering_Kalman_Filtering.h)(0x67B835FF)() -F (.\CarBody\Gimbal.c)(0x6964AB09)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186 -IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U" -o .\objects\gimbal.o --omf_browse .\objects\gimbal.crf --depend .\objects\gimbal.d) +F (.\CarBody\Gimbal.c)(0x697F878B)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186 -IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U" -o .\objects\gimbal.o --omf_browse .\objects\gimbal.crf --depend .\objects\gimbal.d) I (.\Start\stm32f4xx.h)(0x66256792) I (.\Start\core_cm4.h)(0x64D03162) I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2) @@ -2477,10 +2477,10 @@ I (.\Library\stm32f4xx_can.h)(0x64D03164) I (.\Library\stm32f4xx_dac.h)(0x64D03164) I (.\Library\stm32f4xx_dcmi.h)(0x64D03164) I (.\Library\stm32f4xx_fsmc.h)(0x64D03164) -I (.\User\Parameter.h)(0x69301917) +I (.\User\Parameter.h)(0x697F8867) I (.\Control\PID.h)(0x68BF8A63) I (.\Hardware\Remote.h)(0x67DE79C2) -I (.\Function\AttitudeAlgorithms.h)(0x660A3E88) +I (.\Function\AttitudeAlgorithms.h)(0x6970B202) I (.\Motor\M3508.h)(0x669D1100) I (.\Motor\M2006.h)(0x669D1190) I (.\Motor\GM6020.h)(0x669D1130) @@ -2531,7 +2531,7 @@ I (.\Function\Warming.h)(0x66A19ADE) I (.\Hardware\Remote.h)(0x67DE79C2) F (.\CarBody\RefereeSystem.h)(0x66A1C17E)() F (.\Carbody\RefereeSystem_CRCTable.h)(0x66A1BDA0)() -F (.\CarBody\Visual.c)(0x69649AAC)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186 -IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U" -o .\objects\visual.o --omf_browse .\objects\visual.crf --depend .\objects\visual.d) +F (.\CarBody\Visual.c)(0x697F8634)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186 -IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U" -o .\objects\visual.o --omf_browse .\objects\visual.crf --depend .\objects\visual.d) I (.\Start\stm32f4xx.h)(0x66256792) I (.\Start\core_cm4.h)(0x64D03162) I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2) @@ -2569,7 +2569,7 @@ I (.\Library\stm32f4xx_fsmc.h)(0x64D03164) I (CarBody\Visual.h)(0x67B846AB) I (.\System\UART.h)(0x669D08B6) I (CarBody\Gimbal.h)(0x67B825A8) -I (.\Function\AttitudeAlgorithms.h)(0x660A3E88) +I (.\Function\AttitudeAlgorithms.h)(0x6970B202) I (.\System\Delay.h)(0x64FBE4AA) I (.\Hardware\Buzzer.h)(0x6513BE16) I (.\Motor\GM6020.h)(0x669D1130) @@ -2616,7 +2616,7 @@ I (.\Library\stm32f4xx_fsmc.h)(0x64D03164) I (.\System\UART.h)(0x669D08B6) I (.\Hardware\Remote.h)(0x67DE79C2) F (.\CarBody\Keyboard.h)(0x66A1BD42)() -F (.\User\main.c)(0x69634FEE)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186 -IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U" -o .\objects\main.o --omf_browse .\objects\main.crf --depend .\objects\main.d) +F (.\User\main.c)(0x6970AF7D)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186 -IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U" -o .\objects\main.o --omf_browse .\objects\main.crf --depend .\objects\main.d) I (.\Start\stm32f4xx.h)(0x66256792) I (.\Start\core_cm4.h)(0x64D03162) I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2) @@ -2672,15 +2672,15 @@ I (.\Function\LinkCheck.h)(0x65FBCE1A) I (.\Function\CloseLoopControl.h)(0x65B10F2C) I (.\Function\CToC.h)(0x669D31F6) I (.\Function\IMUTemperatureControl.h)(0x65C36CAE) -I (.\Function\AttitudeAlgorithms.h)(0x660A3E88) +I (.\Function\AttitudeAlgorithms.h)(0x6970B202) I (.\Function\Warming.h)(0x66A19ADE) -I (User\Parameter.h)(0x69301917) +I (User\Parameter.h)(0x697F8867) I (.\CarBody\Gimbal.h)(0x67B825A8) I (.\CarBody\Visual.h)(0x67B846AB) I (.\CarBody\RefereeSystem.h)(0x66A1C17E) I (.\CarBody\Keyboard.h)(0x66A1BD42) F (.\User\RM_C.h)(0x66A2BE9A)() -F (.\User\Parameter.h)(0x69301917)() +F (.\User\Parameter.h)(0x697F8867)() F (.\User\stm32f4xx_conf.h)(0x64D03180)() F (.\User\stm32f4xx_it.c)(0x64D032D2)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186 -IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U" -o .\objects\stm32f4xx_it.o --omf_browse .\objects\stm32f4xx_it.crf --depend .\objects\stm32f4xx_it.d) I (User\stm32f4xx_it.h)(0x64D03180) diff --git a/云台/云台/Objects/attitudealgorithms.crf b/云台/云台/Objects/attitudealgorithms.crf index a5254d631de7c5aa2147770b55681e0246c6d56d..6c28ba67921f544fa225fbc883cf1187a70cbc53 100644 GIT binary patch delta 1664 zcmaJ?U2IfE6rP!#oo?$2OaEx;vYnQeQjRD;0$V6nsnV8$^bbwP#CCygyM=URd)tZv zy+$J@#Gq($4aWFT@RtNMCi4Ii-!uq3l&af%1q)TF7>$WRF+SkA+eL{F-Q*vIb-LgId^wOc1AlITHC@amMtZJ 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000000000000000000000000000000000100000001000000000000000446696C65C6030000 1423 @@ -1822,7 +1822,7 @@ Build 976 - 00200000010000001000FFFF01001100434D4643546F6F6C426172427574746F6ECF7F0000000000001C0000000000000000000000000000000001000000010000000180D07F0000000000001D000000000000000000000000000000000100000001000000018030800000000000001E000000000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6EC7040000000000006A0000000C4261746368204275696C2664000000000000000000000000010000000100000000000000000000000100000004000580C7040000000000006A0000000C4261746368204275696C266400000000000000000000000001000000010000000000000000000000010000000000058046070000000000006B0000000D42617463682052656275696C640000000000000000000000000100000001000000000000000000000001000000000005804707000000000000FFFFFFFF0B426174636820436C65616E0100000000000000000000000100000001000000000000000000000001000000000005809E8A0000000000001F0000000F4261746326682053657475702E2E2E000000000000000000000000010000000100000000000000000000000100000000000180D17F0000000004002000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001804C8A0000000000002100000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000FFFF01001900434D4643546F6F6C426172436F6D626F426F78427574746F6EBA000000000000000000000000000000000000000000000000010000000100000096000000030020500000000008546172676574203196000000000000000100085461726765742031000000000180EB880000000000002200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180C07F000000000000230000000000000000000000000000000001000000010000000180B08A000000000400240000000000000000000000000000000001000000010000000180A8010000000000004E00000000000000000000000000000000010000000100000001807202000000000000530000000000000000000000000000000001000000010000000180BE010000000000005000000000000000000000000000000000010000000100000000000000054275696C64DC010000 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583 @@ -1862,30 +1862,30 @@ 0 100 - 1 + 0 .\CarBody\Gimbal.c 0 - 139 - 162 + 30 + 31 1 0 .\CarBody\Visual.c - 60 - 188 - 202 + 82 + 22 + 23 1 0 .\User\main.c - 8 - 45 - 43 + 30 + 1 + 22 1 0 @@ -1893,7 +1893,7 @@ .\Hardware\BMI088.c 0 - 1 + 36 65 1 @@ -1901,7 +1901,7 @@ .\AHRS\user_lib.c - 0 + 21 1 1 1 @@ -1920,17 +1920,62 @@ .\Function\IMUTemperatureControl.c 67 - 61 + 57 86 1 0 - .\Control\PID.h - 0 - 21 - 27 + .\Function\AttitudeAlgorithms.c + 48 + 75 + 104 + 1 + + 0 + + + .\Function\AttitudeAlgorithms.h + 34 + 1 + 8 + 1 + + 0 + + + .\Control\WaveFiltering_Kalman_Filtering.c + 27 + 1 + 13 + 1 + + 0 + + + .\System\CAN.c + 50 + 4 + 16 + 1 + + 0 + + + .\Motor\GM6020.c + 45 + 8 + 9 + 1 + + 0 + + + .\Motor\GM6020.h + 10 + 1 + 20 1 0 diff --git a/云台/云台/User/Parameter.h b/云台/云台/User/Parameter.h index 7eb2245..24ac970 100644 --- a/云台/云台/User/Parameter.h +++ b/云台/云台/User/Parameter.h @@ -4,9 +4,9 @@ /*=============================================结构参数=============================================*/ #define Yaw_GM6020PositionValue 4000//Yaw轴编码器值4050 #define Pitch_GM6020PositionValue 3245//Pitch轴编码器值 -#define Pitch_GM6020PositionLowerLinit 3665//Pitch轴编码器值下限 -#define Pitch_GM6020PositionUpperLinit 2565//Pitch轴编码器值上限 -#define Pitch_GM6020AngleLowerLinit 15.0f//Pitch轴编码器值下限 +#define Pitch_GM6020PositionLowerLinit 3990//Pitch轴编码器值下限 +#define Pitch_GM6020PositionUpperLinit 2220//Pitch轴编码器值上限 +#define Pitch_GM6020AngleLowerLinit 20.0f//Pitch轴编码器值下限 #define Pitch_GM6020AngleUpperLinit -10.0f//Pitch轴编码器值上限 /*=============================================云台参数=============================================*/ diff --git a/云台/云台/User/main.c b/云台/云台/User/main.c index 3fba466..74ed91e 100644 --- a/云台/云台/User/main.c +++ b/云台/云台/User/main.c @@ -17,7 +17,9 @@ int main(void) { Warming_Init();//报警初始化 LED_BON();//蓝灯点亮表示代码在运行 + Delay_s(1);//等待车身稳定以便于陀螺仪消除零偏 AttitudeAlgorithms_Init();//姿态解算初始化 + ZeroOffset_Calibration();//零偏校准 Delay_s(1);//延时,等待校准和模块启动 LinkCheck_Init();//连接检测初始化 RefereeSystem_Init();//图传链路初始化 @@ -40,11 +42,7 @@ int main(void) CToC_MasterSendData();//CToC发送遥控器摇杆数据 -<<<<<<< HEAD - Visual_SendData();//开启串口调试 -======= Visual_SendData(); ->>>>>>> a6eb3f5ed5724a064e8286c2f8cd26fa9d4816e5 if(Delay_Count) //每次大循环只执行一次 diff --git a/底盘/底盘/.vscode/c_cpp_properties.json b/底盘/底盘/.vscode/c_cpp_properties.json index 0ceecbc..183c59a 100644 --- a/底盘/底盘/.vscode/c_cpp_properties.json +++ b/底盘/底盘/.vscode/c_cpp_properties.json @@ -100,21 +100,16 @@ { "name": "Target 1", "includePath": [ - "f:\\桌面\\V1.0\\new-infantry\\底盘\\底盘\\Start", - "f:\\桌面\\V1.0\\new-infantry\\底盘\\底盘\\Library", - "f:\\桌面\\V1.0\\new-infantry\\底盘\\底盘\\System", - "f:\\桌面\\V1.0\\new-infantry\\底盘\\底盘\\Algorithm", - "f:\\桌面\\V1.0\\new-infantry\\底盘\\底盘\\Hardware", - "f:\\桌面\\V1.0\\new-infantry\\底盘\\底盘\\Motor", - "f:\\桌面\\V1.0\\new-infantry\\底盘\\底盘\\Function", - "f:\\桌面\\V1.0\\new-infantry\\底盘\\底盘\\Control", - "f:\\桌面\\V1.0\\new-infantry\\底盘\\底盘\\CarBody", - "f:\\桌面\\V1.0\\new-infantry\\底盘\\底盘\\User", - "C:\\Keil_v5\\ARM\\ARMCC\\include", - "C:\\Keil_v5\\ARM\\ARMCC\\include\\arm_linux", - "C:\\Keil_v5\\ARM\\ARMCC\\include\\arm_linux_compat", - "C:\\Keil_v5\\ARM\\ARMCC\\include\\libcxx", - "C:\\Keil_v5\\ARM\\ARMCC\\include\\rw" + "c:\\Users\\LSMushui\\Desktop\\RM\\New-Infantry-C-Board-Legacy\\底盘\\底盘\\Start", + "c:\\Users\\LSMushui\\Desktop\\RM\\New-Infantry-C-Board-Legacy\\底盘\\底盘\\Library", + "c:\\Users\\LSMushui\\Desktop\\RM\\New-Infantry-C-Board-Legacy\\底盘\\底盘\\System", + "c:\\Users\\LSMushui\\Desktop\\RM\\New-Infantry-C-Board-Legacy\\底盘\\底盘\\Algorithm", + "c:\\Users\\LSMushui\\Desktop\\RM\\New-Infantry-C-Board-Legacy\\底盘\\底盘\\Hardware", + "c:\\Users\\LSMushui\\Desktop\\RM\\New-Infantry-C-Board-Legacy\\底盘\\底盘\\Motor", + "c:\\Users\\LSMushui\\Desktop\\RM\\New-Infantry-C-Board-Legacy\\底盘\\底盘\\Function", + "c:\\Users\\LSMushui\\Desktop\\RM\\New-Infantry-C-Board-Legacy\\底盘\\底盘\\Control", + "c:\\Users\\LSMushui\\Desktop\\RM\\New-Infantry-C-Board-Legacy\\底盘\\底盘\\CarBody", + "c:\\Users\\LSMushui\\Desktop\\RM\\New-Infantry-C-Board-Legacy\\底盘\\底盘\\User" ], "defines": [ "USE_STDPERIPH_DRIVER", diff --git a/底盘/底盘/.vscode/keil-assistant.log b/底盘/底盘/.vscode/keil-assistant.log index dc84892..bb638a4 100644 --- a/底盘/底盘/.vscode/keil-assistant.log +++ b/底盘/底盘/.vscode/keil-assistant.log @@ -29,3 +29,5 @@ [info] Log at : 2025/10/17|12:12:21|GMT+0800 +[info] Log at : 2026/2/1|21:52:40|GMT+0800 + diff --git a/底盘/底盘/Objects/Project.axf b/底盘/底盘/Objects/Project.axf index 6a35f0fee101cfc299838f70f1b0b2b3427a8639..d571d082d33f6bebaeca8d45fb31c25d303e34e3 100644 GIT binary patch delta 1375 zcmYjQe@I<*6yN=RuY2eFTyy1OE;V$Gq0_;;@7MLExGl?aVYVS73X6B&ebyK+a;z1s z#m1l@!i3n4MM)YADkUA-X=BBpXrWt-O5Y~6rgH?d9}5JtLF?T6eW`yOxaXcgB62XEDOjGx2_)uU~5!89DE@1IGs1R1Lc))}G7+tG^ol-_p?qY3_ib8N%$~g13 zCIeG=It<%&vKxbD4!8+FK*timgvLW*J*1@`ev;C1lFM2ZG{CqNp~SLZ=N{(nBI@8& z8BF7z9lCil-PH^ZBe9&NTrA!NtFg8PYBk4y?1cT&3@7Z|8kMbjjb<9(4ZEaaYx47- zf^I>5ZLrOdk@ylTLHgzy=o5HxFPOCcS+ESeXM>u=v-@}o`*r>lEPD@(s>OY;d$YNX0`JTk3qhzmqv|mu_tXerrq0bvm^zl`nnnE zh95Z9S|X74zRw9}G-9P_doK)|rX5PxAb(ELNy3!NRtIvLr1=V&rBJ$+n0rlzk)0L(%R8F%X4gQxKQg2|_-@$WorZ<#k%IN- zcdrhpFZmMDn1+pSu2Fa3X{GA$@O+?w9$%$WQdl|E9K6kUO?!I2MCrTLNe1n>8rWa! zRX5|*k6?nFd)4RcCiK~9Zi70-w+PuO8rq~9B|Ysxts$*YPCH}yFcnL&)kf2f6~C(0K&{lExoe}8y zGtcwP?BS{9V^hlqm&SJ9Vb+a}Hm%ER`i^q`m2zI=qw@hi2A>$8IF<8>*@F-`CGpe% zo}ujTi3%7&w#O206tO}-T}>PU!zrr!^pUMNq>E)S%!|*i!&4$<;3}|tvqCemMt8<= zf{T4SES?r$C$LQnHsFKw0&gMpqZ1t3i;>NdhxseFGXQup}vS zcHM^c)N&Kr8hE8bm_wYiUl%VnVoY3Kifbg5Z^ZMBxKPA5VH3En_dl!`8Zl0sb_oox z*c&mEU1+=sXF+pB-vDzLEAR~HfiJAZSQB0v?-qlt%=~;ab^&DVjFdP-Nej=ikc<-n zedyp_DzPVv9bov58%Z3>VTB95qT<}yia!DbzLH5dwBsb`wyjXd?`2dTf@&hR+%G{J zu!C;yzygC>^X-;wzV>upgY}SCdJwoJdDFS z?Rx~<*l53`dVaMTM|4qIX|{@QxAG`AtuR-HQ8@e543oFU^s!8J$ILEHKp~qsX58KFk8i$zkyz~RlgwkC{fvkIW zUi#(d*my0c6s&rQ?c$G+#? zpJoJ}A2pbL3on4)qlnSbx22kF!BGR*_zn-m+RtkQqu9xXpo@bfJa^*_V>KJ$?~KIOs>gil7Z=kNz!Xc*^c7!9VyqGiCuH9c&qSieZZzLxQMq}MYZsZr{1@d^_UJ9<2O#zqaf;e+HIMNe ix+9#*GP6&o-_oWAT2fqDZQh>zBW>30sk`=Q(d&OJFT-g7 diff --git a/底盘/底盘/Objects/Project.build_log.htm b/底盘/底盘/Objects/Project.build_log.htm index 791c50a..c5b7fa4 100644 --- a/底盘/底盘/Objects/Project.build_log.htm +++ b/底盘/底盘/Objects/Project.build_log.htm @@ -29,69 +29,69 @@ Project File Date: 11/02/2025 Rebuild target 'Target 1' assembling startup_stm32f40_41xxx.s... compiling misc.c... -compiling stm32f4xx_dbgmcu.c... -compiling stm32f4xx_dfsdm.c... -compiling stm32f4xx_cryp_tdes.c... -compiling system_stm32f4xx.c... -compiling stm32f4xx_cryp.c... compiling stm32f4xx_adc.c... compiling stm32f4xx_can.c... -compiling stm32f4xx_dma2d.c... -compiling stm32f4xx_dsi.c... -compiling stm32f4xx_dcmi.c... -compiling stm32f4xx_flash_ramfunc.c... -compiling stm32f4xx_cryp_des.c... -compiling stm32f4xx_cec.c... -compiling stm32f4xx_cryp_aes.c... -compiling stm32f4xx_fmpi2c.c... -compiling stm32f4xx_gpio.c... -compiling stm32f4xx_exti.c... -compiling stm32f4xx_crc.c... -compiling stm32f4xx_fsmc.c... compiling stm32f4xx_flash.c... +compiling stm32f4xx_dcmi.c... compiling stm32f4xx_dac.c... +compiling stm32f4xx_fsmc.c... +compiling stm32f4xx_crc.c... +compiling system_stm32f4xx.c... +compiling stm32f4xx_cryp_tdes.c... +compiling stm32f4xx_cryp.c... +compiling stm32f4xx_flash_ramfunc.c... +compiling stm32f4xx_cec.c... +compiling stm32f4xx_fmpi2c.c... +compiling stm32f4xx_dsi.c... +compiling stm32f4xx_dbgmcu.c... +compiling stm32f4xx_exti.c... +compiling stm32f4xx_dfsdm.c... +compiling stm32f4xx_cryp_des.c... +compiling stm32f4xx_dma2d.c... +compiling stm32f4xx_gpio.c... compiling stm32f4xx_dma.c... +compiling stm32f4xx_cryp_aes.c... compiling stm32f4xx_hash.c... -compiling stm32f4xx_hash_md5.c... -compiling stm32f4xx_iwdg.c... compiling stm32f4xx_hash_sha1.c... +compiling stm32f4xx_hash_md5.c... compiling stm32f4xx_i2c.c... +compiling stm32f4xx_iwdg.c... compiling stm32f4xx_lptim.c... compiling stm32f4xx_pwr.c... compiling stm32f4xx_qspi.c... compiling stm32f4xx_ltdc.c... compiling stm32f4xx_rng.c... -compiling stm32f4xx_rcc.c... -compiling stm32f4xx_sai.c... compiling stm32f4xx_spdifrx.c... -compiling Delay.c... -compiling TIM.c... compiling stm32f4xx_syscfg.c... -compiling stm32f4xx_wwdg.c... -compiling stm32f4xx_rtc.c... -compiling stm32f4xx_spi.c... compiling stm32f4xx_sdio.c... -compiling UART.c... +compiling stm32f4xx_sai.c... +compiling stm32f4xx_wwdg.c... +compiling stm32f4xx_spi.c... +compiling TIM.c... +compiling Delay.c... +compiling stm32f4xx_rcc.c... compiling stm32f4xx_usart.c... -compiling CAN.c... +compiling stm32f4xx_rtc.c... compiling stm32f4xx_tim.c... +compiling UART.c... compiling LED.c... compiling Buzzer.c... +compiling CAN.c... compiling Remote.c... -compiling GM6020.c... -compiling CToC.c... compiling M3508.c... +compiling GM6020.c... compiling Warming.c... compiling LinkCheck.c... compiling CloseLoopControl.c... +compiling CToC.c... compiling PID.c... compiling RefereeSystem.c... -compiling Mecanum.c... compiling RefereeSystem_CRCTable.c... -compiling UI.c... compiling Ultra_CAP.c... -compiling UI_Base.c... +compiling Mecanum.c... +compiling UI.c... compiling stm32f4xx_it.c... +compiling UI_Base.c... compiling main.c... compiling UI_Library.c... linking... @@ -108,7 +108,7 @@ Package Vendor: Keil

                              Collection of Component include folders:

                              Collection of Component Files used:

                              -Build Time Elapsed: 00:00:04 +Build Time Elapsed: 00:00:05 diff --git a/底盘/底盘/Objects/Project.htm b/底盘/底盘/Objects/Project.htm index 50d203c..ea05cf1 100644 --- a/底盘/底盘/Objects/Project.htm +++ b/底盘/底盘/Objects/Project.htm @@ -3,7 +3,7 @@ Static Call Graph - [.\Objects\Project.axf]

                              Static Call Graph for image .\Objects\Project.axf

                              -

                              #<CALLGRAPH># ARM Linker, 5060960: Last Updated: Sun Nov 02 21:03:24 2025 +

                              #<CALLGRAPH># ARM Linker, 5060960: Last Updated: Wed Jan 21 18:47:23 2026

                              Maximum Stack Usage = 232 bytes + Unknown(Cycles, Untraceable Function Pointers)

                              Call chain for Maximum Stack Depth:

                              diff --git a/底盘/底盘/Objects/Project_Target 1.dep b/底盘/底盘/Objects/Project_Target 1.dep index 0930898..7ad90e5 100644 --- a/底盘/底盘/Objects/Project_Target 1.dep +++ b/底盘/底盘/Objects/Project_Target 1.dep @@ -2407,7 +2407,7 @@ I (CarBody\UI_Base.h)(0x664C499A) I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\string.h)(0x5E8E3CC2) I (.\System\UART.h)(0x669CFA98) F (.\CarBody\UI_Library.h)(0x66A113C6)() -F (.\User\main.c)(0x66A10DEC)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186 -IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -o .\objects\main.o --omf_browse .\objects\main.crf --depend .\objects\main.d) +F (.\User\main.c)(0x6970AEB5)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186 -IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -o .\objects\main.o --omf_browse .\objects\main.crf --depend .\objects\main.d) I (.\Start\stm32f4xx.h)(0x64F48C00) I (.\Start\core_cm4.h)(0x64D03162) I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2) diff --git a/底盘/底盘/Objects/main.crf b/底盘/底盘/Objects/main.crf index c709cc754fda6101751ed99138ea0e6acdc6d435..f66f402a39613aedae62c6ba849b7d4c1e2d465d 100644 GIT binary patch delta 53 zcmdlrOJ>(BnGOFqxVGLsbefF;2-Y-naJF-BG6FFZ5HkZY3lOscG23(BnGOFqxZcce*~-QM1l-LWob4Q(j6lo;#LPg<0>rF9%(k6_lii2~0Jw4t AumAu6 diff --git a/底盘/底盘/Project.uvguix.LSMushui b/底盘/底盘/Project.uvguix.LSMushui index 67a4d54..e7ab661 100644 --- a/底盘/底盘/Project.uvguix.LSMushui +++ b/底盘/底盘/Project.uvguix.LSMushui @@ -15,7 +15,7 @@ 38003 Registers - 124 79 + 140 63 346 @@ -40,7 +40,7 @@ 1506 Symbols - 71 71 71 + 80 80 80 1936 @@ -93,8 +93,8 @@ 2 3 - -1 - -1 + -32000 + -32000 -1 @@ -110,8 +110,8 @@ 0 - 385 - 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898 @@ -1851,8 +1851,8 @@ 0 - 1707 - 960 + 1920 + 1080 @@ -1862,7 +1862,7 @@ 0 100 - 1 + 2 .\CarBody\Mecanum.c 0 @@ -1875,12 +1875,21 @@ .\System\CAN.c 0 - 1 + 7 1 1 0 + + .\User\main.c + 11 + 1 + 10 + 1 + + 0 + diff --git a/底盘/底盘/Project.uvoptx b/底盘/底盘/Project.uvoptx index 0796aae..9e3e9f5 100644 --- a/底盘/底盘/Project.uvoptx +++ b/底盘/底盘/Project.uvoptx @@ -1975,7 +1975,7 @@ User - 0 + 1 0 0 0 diff --git a/底盘/底盘/User/main.c b/底盘/底盘/User/main.c index 6cc656d..ac46cd1 100644 --- a/底盘/底盘/User/main.c +++ b/底盘/底盘/User/main.c @@ -7,7 +7,7 @@ int main() { Warming_Init();//报警初始化 LED_BON();//蓝灯点亮表示代码在运行 - Delay_s(2);//延时,等待校准和模块启动 + Delay_s(4);//延时,等待校准和模块启动 RefereeSystem_Init();//裁判系统数据接收初始化 LinkCheck_Init();//连接检测初始化 Ultra_CAP_Init();//超电初始化